摘要
移动机器人的定位与地图创建是机器人研究中一个基础且重要的问题。本文对该领域的最新进展进行了综述,特别侧重于未知环境中机器人并发定位与地图创建(SLAM)问题;比较详细地分析了地图表示方法、定位和环境特征的提取、不确定信息的表示和处理等关键技术;同时对几种典型的SLAM方法进行了介绍;阐述了移动机器人SLAM问题研究中所面临的主要问题,并探讨了将来的发展方向。
Localization and map building of mobile robots is a fundamental and important problem in research on robotics. This paper surveyed the latest progress, specially on the simultaneous localization and map building (SLAM) in unknown environment. Some key techniques are analyzed in detail, such as map representation, localization and environment feature-extraction, description and process of uncertain information. At the same time, some typical research methods are introduced. Existing problems, further research and the development trends are also discussed.
出处
《微计算机信息》
北大核心
2005年第3期179-180,共2页
Control & Automation
基金
国家自然科学基金重点项目(60234030)
